Impact of Disturbances on Mixed Traffic Control with Autonomous Vehicles
This paper investigates the impact of disturbances on controlling an autonomous vehicle to smooth mixed traffic flow in a ring road setup. By exploiting the ring structure of this system, it is shown that velocity perturbations impacting any vehicle on the ring enter an uncontrollable and marginally stable mode defined by the sum of relative vehicle spacings. These disturbances are then integrated up by the system and cannot be unwound via controlling the autonomous vehicle. In particular, if the velocity disturbances are zero-mean Gaussians, then the traffic flow on the ring will undergo a random walk with the variance growing indefinitely and independently of the control policy applied. In contrast, the impact of acceleration disturbances is benign as these disturbances do no enter the uncontrollable mode, meaning that they can be easily regulated using the autonomous vehicle. Our results support and complement the existing theoretic analysis and field experiments.
Code (0)
등록된 구현이 없습니다.
Tasks
Autonomous VehiclesSimilar Papers 제목 키워드 기반
Merging Control Strategies of Connected and Autonomous Vehicles at Freeway On-Ramps: A Comprehensive Review
On-ramp merging areas are typical bottlenecks in the freeway network, since merging on-ramp vehicles may cause intensive disturbances on the mainline traffic flow and lead to various negative impacts on traffic efficienc…
Autonomous VehiclesRobust Safety for Mixed-Autonomy Traffic with Delays and Disturbances
Various control strategies and field experiments have been designed for connected and automated vehicles (CAVs) to stabilize mixed traffic that contains both CAVs and Human-driven Vehicles (HVs). The effect of these stab…
Robust Data-EnablEd Predictive Leading Cruise Control via Reachability Analysis
Data-driven predictive control promises model-free wave-dampening strategies for Connected and Autonomous Vehicles (CAVs) in mixed traffic flow. However, its performance relies on data quality, which suffers from unknown…
Autonomous VehiclesLEMMAPersonalized Adaptive Cruise Control and Impacts on Mixed Traffic
This paper presents a personalized adaptive cruise control (PACC) design that can learn driver behavior and adaptively control the semi-autonomous vehicle (SAV) in the car-following scenario, and investigates its impacts…
Implementation and Experimental Validation of Data-Driven Predictive Control for Dissipating Stop-and-Go Waves in Mixed Traffic
In this paper, we present the first experimental results of data-driven predictive control for connected and autonomous vehicles (CAVs) in dissipating traffic waves. In particular, we consider a recent strategy of Data-E…
Autonomous VehiclesTraffic Prediction